After computing the 3D points on the object, we optimize the pose by matching these points against the Signed Distance Function (SDF) of the object model as in [1]}. The optimization problem we solve is
\((\hat{\mathbf {t}}, \hat{\mathbf {R}})= \underset{\mathbf {t}, \mathbf {R}}{\arg \min } \sum _{\mathbf {p}_i \in \mathbf {P}_{\text{obj}}}\left| \mathbf {SDF}_{\text{obj}}(\mathbf {p}_i, \mathbf {t}, \mathbf {R}) \right| + \lambda \frac{1}{2} \Vert  \mathbf {t} - \bar{\mathbf {t}} \Vert  ^2,\) 
